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<div class="title">register_point_struct.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTER_POINT_STRUCT_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_REGISTER_POINT_STRUCT_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#ifdef __GNUC__</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#pragma GCC system_header</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#if defined _MSC_VER</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">  #pragma warning (push, 2)</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="comment">// 4244 : conversion from &#39;type1&#39; to &#39;type2&#39;, possible loss of data</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">  #pragma warning (disable: 4244)</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="comment">//https://bugreports.qt-project.org/browse/QTBUG-22829</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#ifndef Q_MOC_RUN</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#include &lt;pcl/point_traits.h&gt;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#include &lt;boost/mpl/vector.hpp&gt;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#include &lt;boost/preprocessor/seq/enum.hpp&gt;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#include &lt;boost/preprocessor/seq/for_each.hpp&gt;</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#include &lt;boost/preprocessor/seq/transform.hpp&gt;</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="preprocessor">#include &lt;boost/preprocessor/cat.hpp&gt;</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#include &lt;boost/preprocessor/comparison.hpp&gt;</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#include &lt;boost/utility.hpp&gt;</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="preprocessor">#include &lt;boost/type_traits.hpp&gt;</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor">#include &lt;stddef.h&gt;</span> <span class="comment">//offsetof</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="comment">// Must be used in global namespace with name fully qualified</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_POINT_STRUCT(name, fseq)               \</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="preprocessor">  POINT_CLOUD_REGISTER_POINT_STRUCT_I(name,                         \</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">    BOOST_PP_CAT(POINT_CLOUD_REGISTER_POINT_STRUCT_X fseq, 0))      \</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_POINT_WRAPPER(wrapper, pod)    \</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="preprocessor">  BOOST_MPL_ASSERT_MSG(sizeof(wrapper) == sizeof(pod), POINT_WRAPPER_AND_POD_TYPES_HAVE_DIFFERENT_SIZES, (wrapper&amp;, pod&amp;)); \</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="preprocessor">  namespace pcl {                                           \</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="preprocessor">    namespace traits {                                      \</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="preprocessor">      template&lt;&gt; struct POD&lt;wrapper&gt; { typedef pod type; }; \</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">    }                                                       \</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="preprocessor">  }                                                         \</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">// These macros help transform the unusual data structure (type, name, tag)(type, name, tag)...</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="comment">// into a proper preprocessor sequence of 3-tuples ((type, name, tag))((type, name, tag))...</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_POINT_STRUCT_X(type, name, tag)            \</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="preprocessor">  ((type, name, tag)) POINT_CLOUD_REGISTER_POINT_STRUCT_Y</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_POINT_STRUCT_Y(type, name, tag)            \</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="preprocessor">  ((type, name, tag)) POINT_CLOUD_REGISTER_POINT_STRUCT_X</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_POINT_STRUCT_X0</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_POINT_STRUCT_Y0</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;{</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keyword">namespace </span>traits</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keyword">typename</span> boost::disable_if_c&lt;boost::is_array&lt;T&gt;::value&gt;::type</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    plus (T &amp;l, <span class="keyword">const</span> T &amp;r)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      l += r;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">typename</span> boost::enable_if_c&lt;boost::is_array&lt;T&gt;::value&gt;::type</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    plus (<span class="keyword">typename</span> boost::remove_const&lt;T&gt;::type &amp;l, <span class="keyword">const</span> T &amp;r)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::remove_all_extents&lt;T&gt;::type type;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> uint32_t count = <span class="keyword">sizeof</span> (T) / <span class="keyword">sizeof</span> (type);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; count; ++i)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        l[i] += r[i];</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T1, <span class="keyword">typename</span> T2&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keyword">typename</span> boost::disable_if_c&lt;boost::is_array&lt;T1&gt;::value&gt;::type</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    plusscalar (T1 &amp;p, <span class="keyword">const</span> T2 &amp;scalar)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      p += scalar;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T1, <span class="keyword">typename</span> T2&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keyword">typename</span> boost::enable_if_c&lt;boost::is_array&lt;T1&gt;::value&gt;::type</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    plusscalar (T1 &amp;p, <span class="keyword">const</span> T2 &amp;scalar)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::remove_all_extents&lt;T1&gt;::type type;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> uint32_t count = <span class="keyword">sizeof</span> (T1) / <span class="keyword">sizeof</span> (type);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; count; ++i)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        p[i] += scalar;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keyword">typename</span> boost::disable_if_c&lt;boost::is_array&lt;T&gt;::value&gt;::type</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    minus (T &amp;l, <span class="keyword">const</span> T &amp;r)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      l -= r;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keyword">typename</span> boost::enable_if_c&lt;boost::is_array&lt;T&gt;::value&gt;::type</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    minus (<span class="keyword">typename</span> boost::remove_const&lt;T&gt;::type &amp;l, <span class="keyword">const</span> T &amp;r)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::remove_all_extents&lt;T&gt;::type type;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> uint32_t count = <span class="keyword">sizeof</span> (T) / <span class="keyword">sizeof</span> (type);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; count; ++i)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        l[i] -= r[i];</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T1, <span class="keyword">typename</span> T2&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keyword">typename</span> boost::disable_if_c&lt;boost::is_array&lt;T1&gt;::value&gt;::type</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    minusscalar (T1 &amp;p, <span class="keyword">const</span> T2 &amp;scalar)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      p -= scalar;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T1, <span class="keyword">typename</span> T2&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keyword">typename</span> boost::enable_if_c&lt;boost::is_array&lt;T1&gt;::value&gt;::type</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    minusscalar (T1 &amp;p, <span class="keyword">const</span> T2 &amp;scalar)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::remove_all_extents&lt;T1&gt;::type type;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> uint32_t count = <span class="keyword">sizeof</span> (T1) / <span class="keyword">sizeof</span> (type);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; count; ++i)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        p[i] -= scalar;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T1, <span class="keyword">typename</span> T2&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keyword">typename</span> boost::disable_if_c&lt;boost::is_array&lt;T1&gt;::value&gt;::type</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    mulscalar (T1 &amp;p, <span class="keyword">const</span> T2 &amp;scalar)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      p *= scalar;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T1, <span class="keyword">typename</span> T2&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keyword">typename</span> boost::enable_if_c&lt;boost::is_array&lt;T1&gt;::value&gt;::type</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    mulscalar (T1 &amp;p, <span class="keyword">const</span> T2 &amp;scalar)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::remove_all_extents&lt;T1&gt;::type type;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> uint32_t count = <span class="keyword">sizeof</span> (T1) / <span class="keyword">sizeof</span> (type);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; count; ++i)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        p[i] *= scalar;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T1, <span class="keyword">typename</span> T2&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keyword">typename</span> boost::disable_if_c&lt;boost::is_array&lt;T1&gt;::value&gt;::type</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    divscalar (T1 &amp;p, <span class="keyword">const</span> T2 &amp;scalar)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      p /= scalar;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T1, <span class="keyword">typename</span> T2&gt; <span class="keyword">inline</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keyword">typename</span> boost::enable_if_c&lt;boost::is_array&lt;T1&gt;::value&gt;::type</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    divscalar (T1 &amp;p, <span class="keyword">const</span> T2 &amp;scalar)</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::remove_all_extents&lt;T1&gt;::type type;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> uint32_t count = <span class="keyword">sizeof</span> (T1) / <span class="keyword">sizeof</span> (type);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; count; ++i)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        p[i] /= scalar;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;}</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="comment">// Point operators</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="preprocessor">#define PCL_PLUSEQ_POINT_TAG(r, data, elem)                \</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="preprocessor">  pcl::traits::plus (lhs.BOOST_PP_TUPLE_ELEM(3, 1, elem),  \</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="preprocessor">                     rhs.BOOST_PP_TUPLE_ELEM(3, 1, elem)); \</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="preprocessor">#define PCL_PLUSEQSC_POINT_TAG(r, data, elem)                 \</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="preprocessor">  pcl::traits::plusscalar (p.BOOST_PP_TUPLE_ELEM(3, 1, elem), \</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="preprocessor">                           scalar);                           \</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;   <span class="comment">//p.BOOST_PP_TUPLE_ELEM(3, 1, elem) += scalar;  \</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="preprocessor">#define PCL_MINUSEQ_POINT_TAG(r, data, elem)                \</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="preprocessor">  pcl::traits::minus (lhs.BOOST_PP_TUPLE_ELEM(3, 1, elem),  \</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">                      rhs.BOOST_PP_TUPLE_ELEM(3, 1, elem)); \</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="preprocessor">#define PCL_MINUSEQSC_POINT_TAG(r, data, elem)                 \</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="preprocessor">  pcl::traits::minusscalar (p.BOOST_PP_TUPLE_ELEM(3, 1, elem), \</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="preprocessor">                            scalar);                           \</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;   <span class="comment">//p.BOOST_PP_TUPLE_ELEM(3, 1, elem) -= scalar;   \</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="preprocessor">#define PCL_MULEQSC_POINT_TAG(r, data, elem)                 \</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="preprocessor">  pcl::traits::mulscalar (p.BOOST_PP_TUPLE_ELEM(3, 1, elem), \</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="preprocessor">                            scalar);                         \</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="preprocessor">#define PCL_DIVEQSC_POINT_TAG(r, data, elem)   \</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="preprocessor">  pcl::traits::divscalar (p.BOOST_PP_TUPLE_ELEM(3, 1, elem), \</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="preprocessor">                            scalar);                         \</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="comment">// Construct type traits given full sequence of (type, name, tag) triples</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="comment">//  BOOST_MPL_ASSERT_MSG(boost::is_pod&lt;name&gt;::value,</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="comment">//                       REGISTERED_POINT_TYPE_MUST_BE_PLAIN_OLD_DATA, (name));</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_POINT_STRUCT_I(name, seq)                           \</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="preprocessor">  namespace pcl                                                                  \</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="preprocessor">  {                                                                              \</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="preprocessor">    namespace fields                                                             \</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="preprocessor">    {                                                                            \</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="preprocessor">      BOOST_PP_SEQ_FOR_EACH(POINT_CLOUD_REGISTER_FIELD_TAG, name, seq)           \</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="preprocessor">    }                                                                            \</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="preprocessor">    namespace traits                                                             \</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;<span class="preprocessor">    {                                                                            \</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="preprocessor">      BOOST_PP_SEQ_FOR_EACH(POINT_CLOUD_REGISTER_FIELD_NAME, name, seq)          \</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="preprocessor">      BOOST_PP_SEQ_FOR_EACH(POINT_CLOUD_REGISTER_FIELD_OFFSET, name, seq)        \</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="preprocessor">      BOOST_PP_SEQ_FOR_EACH(POINT_CLOUD_REGISTER_FIELD_DATATYPE, name, seq)      \</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="preprocessor">      POINT_CLOUD_REGISTER_POINT_FIELD_LIST(name, POINT_CLOUD_EXTRACT_TAGS(seq)) \</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="preprocessor">    }                                                                            \</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="preprocessor">    namespace common                                           \</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="preprocessor">    {                                                          \</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="preprocessor">      inline const name&amp;                                       \</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="preprocessor">      operator+= (name&amp; lhs, const name&amp; rhs)                  \</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="preprocessor">      {                                                        \</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="preprocessor">        BOOST_PP_SEQ_FOR_EACH(PCL_PLUSEQ_POINT_TAG, _, seq)    \</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="preprocessor">        return (lhs);                                          \</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="preprocessor">      }                                                        \</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="preprocessor">      inline const name&amp;                                       \</span></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="preprocessor">      operator+= (name&amp; p, const float&amp; scalar)                \</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="preprocessor">      {                                                        \</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="preprocessor">        BOOST_PP_SEQ_FOR_EACH(PCL_PLUSEQSC_POINT_TAG, _, seq)  \</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="preprocessor">        return (p);                                            \</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="preprocessor">      }                                                        \</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="preprocessor">      inline const name operator+ (const name&amp; lhs, const name&amp; rhs)   \</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="preprocessor">      { name result = lhs; result += rhs; return (result); }           \</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="preprocessor">      inline const name operator+ (const float&amp; scalar, const name&amp; p) \</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="preprocessor">      { name result = p; result += scalar; return (result); }          \</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="preprocessor">      inline const name operator+ (const name&amp; p, const float&amp; scalar) \</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;<span class="preprocessor">      { name result = p; result += scalar; return (result); }          \</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="preprocessor">      inline const name&amp;                                       \</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="preprocessor">      operator-= (name&amp; lhs, const name&amp; rhs)                  \</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="preprocessor">      {                                                        \</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="preprocessor">        BOOST_PP_SEQ_FOR_EACH(PCL_MINUSEQ_POINT_TAG, _, seq)   \</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="preprocessor">        return (lhs);                                          \</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="preprocessor">      }                                                        \</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="preprocessor">      inline const name&amp;                                       \</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="preprocessor">      operator-= (name&amp; p, const float&amp; scalar)                \</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="preprocessor">      {                                                        \</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="preprocessor">        BOOST_PP_SEQ_FOR_EACH(PCL_MINUSEQSC_POINT_TAG, _, seq) \</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="preprocessor">        return (p);                                            \</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;<span class="preprocessor">      }                                                        \</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="preprocessor">      inline const name operator- (const name&amp; lhs, const name&amp; rhs)   \</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="preprocessor">      { name result = lhs; result -= rhs; return (result); }           \</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;<span class="preprocessor">      inline const name operator- (const float&amp; scalar, const name&amp; p) \</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="preprocessor">      { name result = p; result -= scalar; return (result); }          \</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="preprocessor">      inline const name operator- (const name&amp; p, const float&amp; scalar) \</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="preprocessor">      { name result = p; result -= scalar; return (result); }          \</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="preprocessor">      inline const name&amp;                                       \</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="preprocessor">      operator*= (name&amp; p, const float&amp; scalar)                \</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="preprocessor">      {                                                        \</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="preprocessor">        BOOST_PP_SEQ_FOR_EACH(PCL_MULEQSC_POINT_TAG, _, seq)   \</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="preprocessor">        return (p);                                            \</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="preprocessor">      }                                                        \</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="preprocessor">      inline const name operator* (const float&amp; scalar, const name&amp; p) \</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;<span class="preprocessor">      { name result = p; result *= scalar; return (result); }          \</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;<span class="preprocessor">      inline const name operator* (const name&amp; p, const float&amp; scalar) \</span></div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;<span class="preprocessor">      { name result = p; result *= scalar; return (result); }          \</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="preprocessor">      inline const name&amp;                                       \</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;<span class="preprocessor">      operator/= (name&amp; p, const float&amp; scalar)                \</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="preprocessor">      {                                                        \</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="preprocessor">        BOOST_PP_SEQ_FOR_EACH(PCL_DIVEQSC_POINT_TAG, _, seq)   \</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="preprocessor">        return (p);                                            \</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="preprocessor">      }                                                        \</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="preprocessor">      inline const name operator/ (const float&amp; scalar, const name&amp; p) \</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="preprocessor">      { name result = p; result /= scalar; return (result); }          \</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="preprocessor">      inline const name operator/ (const name&amp; p, const float&amp; scalar) \</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;<span class="preprocessor">      { name result = p; result /= scalar; return (result); }          \</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="preprocessor">    }                                                          \</span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="preprocessor">  }                                                            \</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_FIELD_TAG(r, name, elem)   \</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="preprocessor">  struct BOOST_PP_TUPLE_ELEM(3, 2, elem);               \</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_FIELD_NAME(r, point, elem)                 \</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="preprocessor">  template&lt;int dummy&gt;                                                   \</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="preprocessor">  struct name&lt;point, pcl::fields::BOOST_PP_TUPLE_ELEM(3, 2, elem), dummy&gt; \</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="preprocessor">  {                                                                     \</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="preprocessor">    static const char value[];                                          \</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="preprocessor">  };                                                                    \</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;<span class="preprocessor">                                                                        \</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;<span class="preprocessor">  template&lt;int dummy&gt;                                                   \</span></div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;<span class="preprocessor">  const char name&lt;point,                                                \</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;<span class="preprocessor">                  pcl::fields::BOOST_PP_TUPLE_ELEM(3, 2, elem),         \</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;<span class="preprocessor">                  dummy&gt;::value[] =                                     \</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;<span class="preprocessor">    BOOST_PP_STRINGIZE(BOOST_PP_TUPLE_ELEM(3, 2, elem));                \</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_FIELD_OFFSET(r, name, elem)                \</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="preprocessor">  template&lt;&gt; struct offset&lt;name, pcl::fields::BOOST_PP_TUPLE_ELEM(3, 2, elem)&gt; \</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;<span class="preprocessor">  {                                                                     \</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="preprocessor">    static const size_t value = offsetof(name, BOOST_PP_TUPLE_ELEM(3, 1, elem)); \</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;<span class="preprocessor">  };                                                                    \</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;<span class="comment">// \note: the mpl::identity weirdness is to support array types without requiring the</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="comment">// user to wrap them. The basic problem is:</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;<span class="comment">// typedef float[81] type; // SYNTAX ERROR!</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;<span class="comment">// typedef float type[81]; // OK, can now use &quot;type&quot; as a synonym for float[81]</span></div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_FIELD_DATATYPE(r, name, elem)              \</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;<span class="preprocessor">  template&lt;&gt; struct datatype&lt;name, pcl::fields::BOOST_PP_TUPLE_ELEM(3, 2, elem)&gt; \</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;<span class="preprocessor">  {                                                                     \</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;<span class="preprocessor">    typedef boost::mpl::identity&lt;BOOST_PP_TUPLE_ELEM(3, 0, elem)&gt;::type type; \</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="preprocessor">    typedef decomposeArray&lt;type&gt; decomposed;                            \</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;<span class="preprocessor">    static const uint8_t value = asEnum&lt;decomposed::type&gt;::value;       \</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<span class="preprocessor">    static const uint32_t size = decomposed::value;                     \</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;<span class="preprocessor">  };                                                                    \</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="preprocessor">#define POINT_CLOUD_TAG_OP(s, data, elem) pcl::fields::BOOST_PP_TUPLE_ELEM(3, 2, elem)</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;<span class="preprocessor">#define POINT_CLOUD_EXTRACT_TAGS(seq) BOOST_PP_SEQ_TRANSFORM(POINT_CLOUD_TAG_OP, _, seq)</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;<span class="preprocessor">#define POINT_CLOUD_REGISTER_POINT_FIELD_LIST(name, seq)        \</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="preprocessor">  template&lt;&gt; struct fieldList&lt;name&gt;                             \</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;<span class="preprocessor">  {                                                             \</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;<span class="preprocessor">    typedef boost::mpl::vector&lt;BOOST_PP_SEQ_ENUM(seq)&gt; type;    \</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;<span class="preprocessor">  };                                                            \</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;<span class="preprocessor">  </span><span class="comment">/***/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;<span class="preprocessor">#if defined _MSC_VER</span></div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;<span class="preprocessor">  #pragma warning (pop)</span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_REGISTER_POINT_STRUCT_H_</span></div>
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